Yoga Sutras of Patanjali · 3.39

उदानजयाज्जलपङ्ककण्टकादिष्वसङ्ग उत्क्रान्तिश्च॥३९॥

udāna-jayāj jala-paṅka-kaṇṭakādiṣv asaṅga utkrāntiś ca

By mastery of the upward-moving vital air (udana), the yogi rises above water, mud, thorns, and the like — and at death, can consciously depart.

— Yoga Sutras of Patanjali 3.39

Source: Sanskrit attributed to Patanjali (c. 2nd century BCE – 4th century CE). Public-domain English readings drawn from Swami Vivekananda's 'Raja Yoga' (1896) and Charles Johnston's 'The Yoga Sutras of Patanjali' (1912).